t0 = 0 T = 60 kT = 0.1 for j in range(0,1): V0 = 0.5 + 0.05 * j target = Target(Xtg0, XtgT, d0) channel = Channel(Xbs, r0) uav = UAV(V0, X0, h) uav.setmission(target, channel, kappa, epsilon) X = np.zeros((int((T - t0) / h) + 1,2)) Psi = np.zeros((int((T - t0) / h) + 1,2)) t = np.zeros(int((T - t0) / h) + 1) u = np.zeros(int((T - t0) / h) + 1) gamma = 0 i = 0 gamma = -np.pi / 2 for s in np.arange(t0, T + h, h): #if s < T/2: # gamma = gamma - 2.0 * np.pi * h / T #else: # gamma = gamma + 2.0 * np.pi * h / T gamma = gamma + 2.0 * np.pi * h / T
Xbs = np.array([2.0,3.0]) Xtg = np.array([10.0, -2.0]) r0 = 7.0 d0 = 3.5 kappa = 0.05 epsilon = 0.05 V0 = 0.5 h = 0.1 t0 = 0 T = 60 target = Target(Xtg, d0) channel = Channel(Xbs, r0) uav = UAV(V0, X0, h) uav.setmission(target, channel, kappa) print(uav.u([0,0])) X = np.zeros((int((T-t0)/h)+1,2)) t = np.zeros(int((T-t0)/h)+1) u = np.zeros(int((T-t0)/h)+1) gamma = -np.pi/2 i = 0 for s in np.arange(t0, T+h, h): gamma = gamma + 0.01 t[i] = s x = uav.step(gamma) u[i] = uav.u(x)